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config | ||
launch | ||
meshes | ||
urdf | ||
xacro | ||
CMakeLists.txt | ||
README.md | ||
package.xml |
README.md
Xiaomi Cyberdog Description
This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.
Build
cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install
Visualize the robot
To visualize and check the configuration of the robot in rviz, simply launch:
source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py
Launch ROS2 Control
Mujoco Simulator
- Unitree Guide Controller
source ~/ros2_ws/install/setup.bash ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
- OCS2 Quadruped Controller
source ~/ros2_ws/install/setup.bash ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description
Gazebo Classic 11 (ROS2 Humble)
- Unitree Guide Controller
source ~/ros2_ws/install/setup.bash ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=cyberdog_description height:=0.31
Gazebo Harmonic (ROS2 Jazzy)
- Unitree Guide Controller
source ~/ros2_ws/install/setup.bash ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31